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Merge remote-tracking branch 'origin/SAMD_Integration_PMA' into PORTX_HAL

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This commit is contained in:
Asbelos 2022-07-06 17:13:59 +01:00
commit 06d1040da0
14 changed files with 406 additions and 24 deletions
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6
CommandStation-EX.ino
View File

@ -71,6 +71,7 @@ void setup()
SerialManager::init();
DIAG(F("License GPLv3 fsf.org (c) dcc-ex.com"));
DIAG(F("Platform: %s"), F(ARDUINO_TYPE)); // PMA - temporary
CONDITIONAL_LCD_START {
// This block is still executed for DIAGS if LCD not in use
@ -89,7 +90,7 @@ void setup()
EthernetInterface::setup();
#endif // ETHERNET_ON
// Initialise HAL layer before reading EEprom or setting up MotorDrivers
// Initialise HAL layer before reading EEprom or setting up MotorDrivers
IODevice::begin();
// Responsibility 3: Start the DCC engine.
@ -115,8 +116,7 @@ void setup()
LCN_SERIAL.begin(115200);
LCN::init(LCN_SERIAL);
#endif
LCD(3,F("Ready"));
LCD(3, F("Ready"));
CommandDistributor::broadcastPower();
}

5
DCC.cpp
View File

@ -62,8 +62,11 @@ byte DCC::globalSpeedsteps=128;
void DCC::begin(const FSH * motorShieldName) {
shieldName=(FSH *)motorShieldName;
#if defined(ARDUINO_ARCH_SAMD)
StringFormatter::send(SerialUSB,F("<iDCC-EX V-%S / %S / %S G-%S>\n"), F(VERSION), F(ARDUINO_TYPE), shieldName, F(GITHUB_SHA));
#else
StringFormatter::send(Serial,F("<iDCC-EX V-%S / %S / %S G-%S>\n"), F(VERSION), F(ARDUINO_TYPE), shieldName, F(GITHUB_SHA));
#endif
#ifndef DISABLE_EEPROM
// Load stuff from EEprom
(void)EEPROM; // tell compiler not to warn this is unused

2
DCCEXParser.cpp
View File

@ -905,7 +905,9 @@ bool DCCEXParser::parseD(Print *stream, int16_t params, int16_t p[])
wdt_enable( WDTO_15MS); // set Arduino watchdog timer for 15ms
delay(50); // wait for the prescaller time to expire
#else
#ifdef ARDUINO_ARCH_ESP
ESP.restart();
#endif
#endif
break; // and <X> if we didnt restart
}

2
DCCTimerMEGAAVR.cpp
View File

@ -75,7 +75,7 @@ extern char *__malloc_heap_start;
// ISR called by timer interrupt every 58uS
ISR(TCB0_INT_vect){
TCB0.INTFLAGS = TCB_CAPT_bm;
TCB0.INTFLAGS = TCB_CAPT_bm; // Clear interrupt request flag
interruptHandler();
}

167
DCCTimerSAMD.cpp Normal file
View File

@ -0,0 +1,167 @@
/*
* © 2021 Mike S
* © 2021 Harald Barth
* © 2021 Fred Decker
* © 2021 Chris Harlow
* © 2021 David Cutting
* © 2022 Paul M. Antoine
* All rights reserved.
*
* This file is part of Asbelos DCC API
*
* This is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* It is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with CommandStation. If not, see <https://www.gnu.org/licenses/>.
*/
// ATTENTION: this file only compiles on a TEENSY
// Please refer to DCCTimer.h for general comments about how this class works
// This is to avoid repetition and duplication.
#ifdef ARDUINO_ARCH_SAMD
#include "FSH.h" //PMA temp debug
#include "DIAG.h" //PMA temp debug
#include "DCCTimer.h"
INTERRUPT_CALLBACK interruptHandler=0;
void DCCTimer::begin(INTERRUPT_CALLBACK callback) {
interruptHandler=callback;
noInterrupts();
// PMA - Set up ADC to do faster reads... default for Arduino Zero platform configs is 436uS,
// and we need sub-100uS. This code sets it to a read speed of around 21uS, and enables 12-bit
ADC->CTRLA.bit.ENABLE = 0; // disable ADC
while( ADC->STATUS.bit.SYNCBUSY == 1 ); // wait for synchronization
ADC->CTRLB.reg &= 0b1111100011111111; // mask PRESCALER bits
ADC->CTRLB.reg |= ADC_CTRLB_PRESCALER_DIV64 | // divide Clock by 64
ADC_CTRLB_RESSEL_10BIT; // Result on 10 bits default, 12 bits possible
ADC->AVGCTRL.reg = ADC_AVGCTRL_SAMPLENUM_1 | // take 1 sample at a time
ADC_AVGCTRL_ADJRES(0x00ul); // adjusting result by 0
ADC->SAMPCTRL.reg = 0x00; // sampling Time Length = 0
ADC->CTRLA.bit.ENABLE = 1; // enable ADC
while(ADC->STATUS.bit.SYNCBUSY == 1); // wait for synchronization
// PMA - actual timer setup goo
// Setup clock sources first
REG_GCLK_GENDIV = GCLK_GENDIV_DIV(1) | // Divide 48MHz by 1
GCLK_GENDIV_ID(4); // Apply to GCLK4
while (GCLK->STATUS.bit.SYNCBUSY); // Wait for synchronization
REG_GCLK_GENCTRL = GCLK_GENCTRL_GENEN | // Enable GCLK
GCLK_GENCTRL_SRC_DFLL48M | // Set the 48MHz clock source
GCLK_GENCTRL_ID(4); // Select GCLK4
while (GCLK->STATUS.bit.SYNCBUSY); // Wait for synchronization
REG_GCLK_CLKCTRL = GCLK_CLKCTRL_CLKEN | // Enable generic clock
4 << GCLK_CLKCTRL_GEN_Pos | // Apply to GCLK4
GCLK_CLKCTRL_ID_TCC0_TCC1; // Feed GCLK to TCC0/1
while (GCLK->STATUS.bit.SYNCBUSY);
// PMA - assume we're using TCC0... as we're bit-bashing the DCC waveform output pins anyway
// for "normal accuracy" DCC waveform generation. For high accuracy we're going to need
// to a good deal more. The TCC waveform output pins are mux'd on the SAMD, and OP pins
// for each TCC are only available on certain pins
TCC0->WAVE.reg = TCC_WAVE_WAVEGEN_NPWM; // Select NPWM as waveform
while (TCC0->SYNCBUSY.bit.WAVE); // Wait for sync
// PMA - set the frequency
TCC0->CTRLA.reg |= TCC_CTRLA_PRESCALER(TCC_CTRLA_PRESCALER_DIV1_Val);
TCC0->PER.reg = CLOCK_CYCLES * 2;
while (TCC0->SYNCBUSY.bit.PER);
// PMA - start it
TCC0->CTRLA.bit.ENABLE = 1;
while (TCC0->SYNCBUSY.bit.ENABLE);
// PMA - set interrupt condition, priority and enable
TCC0->INTENSET.reg = TCC_INTENSET_OVF; // Only interrupt on overflow
NVIC_SetPriority((IRQn_Type)TCC0_IRQn, 0); // Make this highest priority
NVIC_EnableIRQ((IRQn_Type)TCC0_IRQn); // Enable the interrupt
interrupts();
}
// PMA - Timer IRQ handlers replace the dummy handlers (cortex_handlers)
// copied from rf24 branch
// TODO: test
void TCC0_Handler() {
if(TCC0->INTFLAG.bit.OVF) {
TCC0->INTFLAG.bit.OVF = 1; // writing a 1 clears the flag
interruptHandler();
}
}
void TCC1_Handler() {
if(TCC1->INTFLAG.bit.OVF) {
TCC1->INTFLAG.bit.OVF = 1; // writing a 1 clears the flag
interruptHandler();
}
}
void TCC2_Handler() {
if(TCC2->INTFLAG.bit.OVF) {
TCC2->INTFLAG.bit.OVF = 1; // writing a 1 clears the flag
interruptHandler();
}
}
bool DCCTimer::isPWMPin(byte pin) {
//TODO: SAMD whilst this call to digitalPinHasPWM will reveal which pins can do PWM,
// there's no support yet for High Accuracy, so for now return false
// return digitalPinHasPWM(pin);
return false;
}
void DCCTimer::setPWM(byte pin, bool high) {
// TODO: what are the relevant pins?
(void) pin;
(void) high;
}
void DCCTimer::getSimulatedMacAddress(byte mac[6]) {
volatile uint32_t *serno1 = (volatile uint32_t *)0x0080A00C;
volatile uint32_t *serno2 = (volatile uint32_t *)0x0080A040;
// volatile uint32_t *serno3 = (volatile uint32_t *)0x0080A044;
// volatile uint32_t *serno4 = (volatile uint32_t *)0x0080A048;
volatile uint32_t m1 = *serno1;
volatile uint32_t m2 = *serno2;
mac[0] = m1 >> 8;
mac[1] = m1 >> 0;
mac[2] = m2 >> 24;
mac[3] = m2 >> 16;
mac[4] = m2 >> 8;
mac[5] = m2 >> 0;
}
volatile int DCCTimer::minimum_free_memory=__INT_MAX__;
// Return low memory value...
int DCCTimer::getMinimumFreeMemory() {
noInterrupts(); // Disable interrupts to get volatile value
int retval = freeMemory();
interrupts();
return retval;
}
extern "C" char* sbrk(int incr);
int DCCTimer::freeMemory() {
char top;
return (int)(&top - reinterpret_cast<char *>(sbrk(0)));
}
#endif

4
EEStore.cpp
View File

@ -31,12 +31,12 @@
#include "Sensors.h"
#include "Turnouts.h"
#if defined(ARDUINO_ARCH_SAMD)
#if defined(ARDUINO_ARCH_SAMC)
ExternalEEPROM EEPROM;
#endif
void EEStore::init() {
#if defined(ARDUINO_ARCH_SAMD)
#if defined(ARDUINO_ARCH_SAMC)
EEPROM.begin(0x50); // Address for Microchip 24-series EEPROM with all three
// A pins grounded (0b1010000 = 0x50)
#endif

4
I2CManager.h
View File

@ -111,10 +111,10 @@
*/
// Uncomment following line to enable Wire library instead of native I2C drivers
//#define I2C_USE_WIRE
#define I2C_USE_WIRE
// Uncomment following line to disable the use of interrupts by the native I2C drivers.
//#define I2C_NO_INTERRUPTS
#define I2C_NO_INTERRUPTS
// Default to use interrupts within the native I2C drivers.
#ifndef I2C_NO_INTERRUPTS

188
I2CManager_SAMD.h Normal file
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@ -0,0 +1,188 @@
/*
* © 2021, Neil McKechnie. All rights reserved.
*
* This file is part of CommandStation-EX
*
* This is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* It is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with CommandStation. If not, see <https://www.gnu.org/licenses/>.
*/
#ifndef I2CMANAGER_SAMD_H
#define I2CMANAGER_SAMD_H
#include <Arduino.h>
#include "I2CManager.h"
//#include <avr/io.h>
//#include <avr/interrupt.h>
#if defined(I2C_USE_INTERRUPTS) && defined(ARDUINO_SAMD_ZERO)
// PMA - IRQ handler, based on SERCOM3 being used for I2C, as per Arduino Zero & Sparkfun SAMD21
// TODO: test
void SERCOM3_Handler() {
I2CManagerClass::handleInterrupt();
}
#endif
/***************************************************************************
* Set I2C clock speed register.
***************************************************************************/
void I2CManagerClass::I2C_setClock(unsigned long i2cClockSpeed) {
unsigned long temp = ((F_CPU / i2cClockSpeed) - 16) / 2;
for (uint8_t preScaler = 0; preScaler<=3; preScaler++) {
if (temp <= 255) {
TWBR = temp;
TWSR = (TWSR & 0xfc) | preScaler;
return;
} else
temp /= 4;
}
// Set slowest speed ~= 500 bits/sec
TWBR = 255;
TWSR |= 0x03;
}
/***************************************************************************
* Initialise I2C registers.
***************************************************************************/
void I2CManagerClass::I2C_init()
{
// PMA - broadly we do the following
initialise the clock
initialise the NVIC
software reset the I2C for the sercom
set master mode
do we need smart mode and quick command??
configure interrupt handlers
enable interrupts
set default baud rate
set SDA/SCL pins as outputs and enable pullups
}
/***************************************************************************
* Initiate a start bit for transmission.
***************************************************************************/
void I2CManagerClass::I2C_sendStart() {
bytesToSend = currentRequest->writeLen;
bytesToReceive = currentRequest->readLen;
// We may have initiated a stop bit before this without waiting for it.
// Wait for stop bit to be sent before sending start.
while (TWCR & (1<<TWSTO)) {}
TWCR = (1<<TWEN)|ENABLE_TWI_INTERRUPT|(1<<TWINT)|(1<<TWEA)|(1<<TWSTA); // Send Start
}
/***************************************************************************
* Initiate a stop bit for transmission (does not interrupt)
***************************************************************************/
void I2CManagerClass::I2C_sendStop() {
TWDR = 0xff; // Default condition = SDA released
TWCR = (1<<TWEN)|(1<<TWINT)|(1<<TWEA)|(1<<TWSTO); // Send Stop
}
/***************************************************************************
* Close I2C down
***************************************************************************/
void I2CManagerClass::I2C_close() {
// disable TWI
I2C_sendStop();
while (TWCR & (1<<TWSTO)) {}
TWCR = (1<<TWINT); // clear any interrupt and stop twi.
}
/***************************************************************************
* Main state machine for I2C, called from interrupt handler or,
* if I2C_USE_INTERRUPTS isn't defined, from the I2CManagerClass::loop() function
* (and therefore, indirectly, from I2CRB::wait() and I2CRB::isBusy()).
***************************************************************************/
void I2CManagerClass::I2C_handleInterrupt() {
if (!(TWCR & (1<<TWINT))) return; // Nothing to do.
uint8_t twsr = TWSR & 0xF8;
// Cases are ordered so that the most frequently used ones are tested first.
switch (twsr) {
case TWI_MTX_DATA_ACK: // Data byte has been transmitted and ACK received
case TWI_MTX_ADR_ACK: // SLA+W has been transmitted and ACK received
if (bytesToSend) { // Send first.
if (operation == OPERATION_SEND_P)
TWDR = GETFLASH(currentRequest->writeBuffer + (txCount++));
else
TWDR = currentRequest->writeBuffer[txCount++];
bytesToSend--;
TWCR = (1<<TWEN)|ENABLE_TWI_INTERRUPT|(1<<TWINT)|(1<<TWEA);
} else if (bytesToReceive) { // All sent, anything to receive?
while (TWCR & (1<<TWSTO)) {} // Wait for stop to be sent
TWCR = (1<<TWEN)|ENABLE_TWI_INTERRUPT|(1<<TWINT)|(1<<TWEA)|(1<<TWSTA); // Send Start
} else { // Nothing left to send or receive
TWDR = 0xff; // Default condition = SDA released
TWCR = (1<<TWEN)|(1<<TWINT)|(1<<TWEA)|(1<<TWSTO); // Send Stop
state = I2C_STATUS_OK;
}
break;
case TWI_MRX_DATA_ACK: // Data byte has been received and ACK transmitted
if (bytesToReceive > 0) {
currentRequest->readBuffer[rxCount++] = TWDR;
bytesToReceive--;
}
/* fallthrough */
case TWI_MRX_ADR_ACK: // SLA+R has been sent and ACK received
if (bytesToReceive <= 1) {
TWCR = (1<<TWEN)|ENABLE_TWI_INTERRUPT|(1<<TWINT); // Send NACK after next reception
} else {
// send ack
TWCR = (1<<TWEN)|ENABLE_TWI_INTERRUPT|(1<<TWINT)|(1<<TWEA);
}
break;
case TWI_MRX_DATA_NACK: // Data byte has been received and NACK transmitted
if (bytesToReceive > 0) {
currentRequest->readBuffer[rxCount++] = TWDR;
bytesToReceive--;
}
TWCR = (1<<TWEN)|(1<<TWINT)|(1<<TWEA)|(1<<TWSTO); // Send Stop
state = I2C_STATUS_OK;
break;
case TWI_START: // START has been transmitted
case TWI_REP_START: // Repeated START has been transmitted
// Set up address and R/W
if (operation == OPERATION_READ || (operation==OPERATION_REQUEST && !bytesToSend))
TWDR = (currentRequest->i2cAddress << 1) | 1; // SLA+R
else
TWDR = (currentRequest->i2cAddress << 1) | 0; // SLA+W
TWCR = (1<<TWEN)|ENABLE_TWI_INTERRUPT|(1<<TWINT)|(1<<TWEA);
break;
case TWI_MTX_ADR_NACK: // SLA+W has been transmitted and NACK received
case TWI_MRX_ADR_NACK: // SLA+R has been transmitted and NACK received
case TWI_MTX_DATA_NACK: // Data byte has been transmitted and NACK received
TWDR = 0xff; // Default condition = SDA released
TWCR = (1<<TWEN)|(1<<TWINT)|(1<<TWEA)|(1<<TWSTO); // Send Stop
state = I2C_STATUS_NEGATIVE_ACKNOWLEDGE;
break;
case TWI_ARB_LOST: // Arbitration lost
// Restart transaction from start.
I2C_sendStart();
break;
case TWI_BUS_ERROR: // Bus error due to an illegal START or STOP condition
default:
TWDR = 0xff; // Default condition = SDA released
TWCR = (1<<TWEN)|(1<<TWINT)|(1<<TWEA)|(1<<TWSTO); // Send Stop
state = I2C_STATUS_TRANSMIT_ERROR;
}
}
#if defined(I2C_USE_INTERRUPTS)
ISR(TWI_vect) {
I2CManagerClass::handleInterrupt();
}
#endif
#endif /* I2CMANAGER_AVR_H */

4
MotorDriver.cpp
View File

@ -231,7 +231,11 @@ unsigned int MotorDriver::mA2raw( unsigned int mA) {
void MotorDriver::getFastPin(const FSH* type,int pin, bool input, FASTPIN & result) {
// DIAG(F("MotorDriver %S Pin=%d,"),type,pin);
(void) type; // avoid compiler warning if diag not used above.
#if defined(ARDUINO_ARCH_SAMD)
PortGroup *port = digitalPinToPort(pin);
#else
uint8_t port = digitalPinToPort(pin);
#endif
if (input)
result.inout = portInputRegister(port);
else

8
MotorDriver.h
View File

@ -62,8 +62,12 @@
#define UNUSED_PIN 127 // inside int8_t
#endif
#if defined(__IMXRT1062__) || defined(ARDUINO_ARCH_ESP8266) || defined(ARDUINO_ARCH_ESP32)
typedef uint32_t portreg_t;
#if defined(__IMXRT1062__) || defined(ARDUINO_ARCH_ESP8266) || defined(ARDUINO_ARCH_ESP32) || defined(ARDUINO_ARCH_SAMD)
struct FASTPIN {
volatile uint32_t *inout;
uint32_t maskHIGH;
uint32_t maskLOW;
};
#else
typedef uint8_t portreg_t;
#endif

9
MotorDrivers.h
View File

@ -46,9 +46,18 @@
// (HIGH == release brake)
//
// Arduino standard Motor Shield
#if defined(ARDUINO_ARCH_SAMD)
// PMA - Setup for SAMD21 Sparkfun DEV board
// senseFactor for 3.3v systems is 1.95 as calculated when using 10-bit A/D samples,
// and for 12-bit samples it's more like 0.488, but we probably need to tweak both these
#define STANDARD_MOTOR_SHIELD F("STANDARD_MOTOR_SHIELD"), \
new MotorDriver(3, 12, UNUSED_PIN, 9, A0, 1.95, 2000, UNUSED_PIN), \
new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 1.95, 2000, UNUSED_PIN)
#else
#define STANDARD_MOTOR_SHIELD F("STANDARD_MOTOR_SHIELD"), \
new MotorDriver(3, 12, UNUSED_PIN, 9, A0, 2.99, 2000, UNUSED_PIN), \
new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 2.99, 2000, UNUSED_PIN)
#endif
// Pololu Motor Shield
#define POLOLU_MOTOR_SHIELD F("POLOLU_MOTOR_SHIELD"), \

8
SerialManager.cpp
View File

@ -33,9 +33,15 @@ SerialManager::SerialManager(Stream * myserial) {
}
void SerialManager::init() {
while (!Serial && millis() < 5000); // wait max 5s for Serial to start
// while (!Serial && millis() < 5000); // wait max 5s for Serial to start
#if defined(ARDUINO_ARCH_SAMD)
SerialUSB.begin(115200);
while (!SerialUSB); // PMA - temporary for debuggering purpoises
new SerialManager(&SerialUSB);
#else
Serial.begin(115200);
new SerialManager(&Serial);
#endif
#ifdef SERIAL3_COMMANDS
Serial3.begin(115200);
new SerialManager(&Serial3);

3
defines.h
View File

@ -70,6 +70,9 @@
#elif defined(ARDUINO_ARCH_ESP32)
#define ARDUINO_TYPE "ESP32"
#undef HAS_AVR_WDT
#elif defined(ARDUINO_ARCH_SAMD)
#define ARDUINO_TYPE "SAMD21"
#undef HAS_AVR_WDT
#else
#define CPU_TYPE_ERROR
#endif

12
platformio.ini
View File

@ -10,11 +10,7 @@
[platformio]
default_envs =
mega2560
uno
mega328
unowifiR2
nano
samd21
src_dir = .
include_dir = .
@ -25,12 +21,13 @@ build_flags = -Wall -Wextra
platform = atmelsam
board = sparkfun_samd21_dev_usb
framework = arduino
upload_protocol = atmel-ice
upload_protocol = sam-ba
lib_deps =
${env.lib_deps}
SparkFun External EEPROM Arduino Library
monitor_speed = 115200
monitor_flags = --echo
build_flags = -std=c++17
[env:mega2560-debug]
platform = atmelavr
@ -131,7 +128,6 @@ platform = atmelavr
board = nanoatmega328new
board_upload.maximum_size = 32256
framework = arduino
lib_deps =
${env.lib_deps}
lib_deps = ${env.lib_deps}
monitor_speed = 115200
monitor_flags = --echo